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Time estimates take into account programmed paths, move types, feedrates, joint rates, and robot kinematics to provide approximate operational times for programs.
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Time Estimation in Robotmaster is only an estimate and may not reflect real-world times due to various factors |
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that are not taken into account, such as acceleration, position level, corner rounding, arm flex, inertia, and so on. When viewing time estimates and programming jobs, please be aware that there will likely be a discrepancy between time estimation values and real-world times. |
The time estimation report
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Linear speed (feedrate) defined in the operation for linear and circular (LC and CC) moves is used for estimated time calculations.
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Linear speed can be defined directly in the operation or it can be defined in a tool and set automatically in an operation by enabling the Set speed from selected tool option.
Angular speed of the TCP is not defined in the operation, but may be specified as a fallback value in a Time estimation override (discussed below).
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External rail axis and rotary axis motion is taken into account for time estimates. Rail and rotary axes have a Maximum joint speed defined in the robot cell, which should also match what is set in the robot controller.
Speed limits
A robot has a Maximum linear speed in mm/s and Maximum angular speed in °/s defined in the robot cell. Any linear or angular speeds that would exceed the limits will be capped to stay at or below the maximum speed.
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Fallback values for time estimation
For operations where either no linear or angular speed is set or the speed is zero, fallback values can be specified for time estimation purposes. Note that time estimation fallback values are not used in the point list or in robot code.
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The values follow a hierarchy. Any item will inherit an override a fallback value from its parent. If an override a fallback value is specified for a child, that will take precendence over any inherited value from parent nodes.
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Joint rate
Joint percentage
Joint This is the percentage rate of the maximum manipulator joint speed. Maximum speeds for each joint are set in the robot cell in Robotmaster. In order for time estimation to be accurate, this value should correspond to what is set in the robot controller for percentage of maximum joint speed.
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Remove override
In the Time estimation override settings panel, you can remove any override fallback value from a cell, setup, program, robot program, or operation by selecting Remove override.
Associated warnings
These warnings may appear in Robotmaster in Time estimation settings.
Higher linear feedrate than maximum linear feedrate detected. They are capped to maximum linear feedrate.
Feedrate that would yield higher joint rate than the maximum joint rate is detected for Jn. Feedrate is capped due to maximum joint rate.
These indicate that the Maximum linear speed, Maximum angular speed, or Maximum joint speed defined in the robot cell would be exceeded for a given operation. As a result, they have been capped at the maximum value for time estimate calculations.
Time estimation is not applied on operations that have robotic errors.
Make sure to clear all robotic errors on any operation to get time estimation values for it.
Time estimation is not applied on operations that have not been calculated.
Make sure to calculate before viewing time estimates.